CN108420545A - Electric touch feedback device and the operating robot for being equipped with the device - Google Patents
Electric touch feedback device and the operating robot for being equipped with the device Download PDFInfo
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- CN108420545A CN108420545A CN201810173297.XA CN201810173297A CN108420545A CN 108420545 A CN108420545 A CN 108420545A CN 201810173297 A CN201810173297 A CN 201810173297A CN 108420545 A CN108420545 A CN 108420545A
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- elastic portion
- feedback device
- electric touch
- electric
- touch feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of electric touch feedback device and the operating robot of the device is installed.The electric touch feedback device includes multi-dimension force sensor and electric touch reponse system, detects the force information contacted between surgical instrument and illing tissue in practical Minimally Invasive Surgery by multi-dimension force sensor, and force information is passed to electric touch control system.And electric touch control system includes main control module and electric current stimulating module, main control module receives the signal of multi-dimension force sensor output, and send out instruction to electric current stimulating module, haptic stimulus feedback is provided by electric current stimulating module, real-time force information is fed back into patient on hand, so as to instruct patient to apply accurate active force.And the operating robot for being equipped with the electric touch feedback device is used, the accuracy and stationarity of surgical procedure can be effectively improved.
Description
Technical field
The present invention relates to a kind of operating robots, and in particular to a kind of electric touch feedback device and the hand for being equipped with the device
Art robot.
Background technology
The operation object of Minimally Invasive Surgery is mostly small blood vessel and nerve, and the difficulty of operation is high, needs patient to have high
Operating accuracy and stability.In recent years, due to the appearance of operating robot, patient, can by operating master console
Control machinery hand flexibly carries out interaction with operative site, to help patient efficiently easily to complete complicated and difficult operation
Operation.This fundamentally solves the problems, such as that patient's gripping is trembled in operation, substantially increases the accuracy and stationarity of operation.
But since operating robot uses remote-controlled operation pattern, by merely look at histoorgan in imaging system
Deformation judges the size of manipulator applied force, this is obviously not intuitive enough, undoubtedly brings great challenge to patient.Also one
Determine the judgement that patient is influenced in degree to operating accuracy.Currently, even state-of-the-art operating robot also fails to solve
This problem.
Invention content
Goal of the invention：In order to overcome the deficiencies of existing technologies, a kind of electric touch feedback device of present invention offer and installation
There is the operating robot of the device.The electric touch feedback device can make operating robot obtain the contact information of operation object simultaneously
And real-time force feedback is provided, to allow the operator to more accurately control operating robot.
Technical solution：A kind of electric touch feedback device of the present invention, including multi-dimension force sensor and electric touch control
System processed；The electric touch control system includes main control module and electric current stimulating module；Described in the main control module connection
Multi-dimension force sensor and the electric current stimulating module, main control module to obtain the output signal of multi-dimension force sensor, and
It sends and instructs to electric current stimulating module；The electric current stimulating module is provided and is touched to receive the instruction that main control module is sent out
Feel stimulation feedback.
Wherein, the multi-dimension force sensor includes elastomer and detection module；The detection module includes being arranged in elasticity
It multiple foil gauges on body and connect to detect the detection circuit of foil gauge resistance change with the multiple foil gauge.
The elastomer includes upper elastic portion, lower elastic portion and be connected between elastic portion and lower elastic portion two
The Rectangular Elastic piece of parallel arrangement；The multiple foil gauge is separately positioned on elastic portion, lower elastic portion and two rectangle bullets
Property on piece.
And technical solution used by operating robot of the present invention is：
A kind of operating robot being equipped with electric touch feedback device of the present invention, further includes working end and operating side,
The multi-dimension force sensor is arranged on working end to capture the force information of working end, and the electric current stimulating module is arranged in institute
It states and is fed back on operating side to provide haptic stimulus.
Advantageous effect：Electricity of the present invention using multi-dimension force sensor and electric touch control system composition for operating robot
Haptic feedback devices are detected the power contacted between surgical instrument and illing tissue in practical Minimally Invasive Surgery by multi-dimension force sensor and believed
Breath, and force information is passed into electric touch control system.And electric touch control system stimulates mould using main control module and electric current
Block is constituted, and main control module receives the signal of multi-dimension force sensor output, and sends out instruction to electric current stimulating module, passes through electric current
Stimulating module provides haptic stimulus feedback, can real-time force information be fed back to patient and patient is instructed to apply accurately on hand
Active force.And the operating robot of the electric touch feedback device is installed, the accuracy peace of surgical procedure can be effectively improved
Stability.
Description of the drawings
Fig. 1 is operating robot operation principle schematic diagram of the present invention；
Fig. 2 is the assembling schematic diagram of multi-dimension force sensor of the present invention；
Fig. 3 is the elastomer structure schematic diagram of multi-dimension force sensor in Fig. 2；
Fig. 4 is the paster structure schematic diagram of the foil gauge of lower elastic portion in Fig. 3；
Fig. 5 is the paster structure schematic diagram of the foil gauge of upper elastic portion in Fig. 3；
Fig. 6 is the paster structure schematic diagram of the foil gauge of a Rectangular Elastic piece in Fig. 3；
Fig. 7 is the paster structure schematic diagram of the foil gauge of another Rectangular Elastic piece in Fig. 3；
Fig. 8 is the wheatstone bridge circuits figure of detection module in the embodiment of the present invention；
Fig. 9 is each component working relation schematic diagram of electric touch feedback device in the embodiment of the present invention.
Specific implementation mode
In the following, being described in further details to the present invention in conjunction with attached drawing.
Inventor is based on current state-of-the-art operating robot both at home and abroad still without addition force feedback technique, to surgical machine
The haptic feedback technology of people is furtherd investigate, and proposes the present invention.
As shown in Figure 1, a kind of operating robot, including act on the working end of illing tissue and the behaviour for patient's operation
Make end.In order to effectively improve the accuracy and stationarity of surgical procedure, which is also equipped with electric touch feedback device.
The electric touch feedback device includes multi-dimension force sensor 100 and electric touch control system.The setting of the multi-dimension force sensor 100 exists
On working end, the force information for capturing working end, and be electric signal by the output of the force information of working end.The electric touch control
System includes main control module and electric current stimulating module, and the main control module connects the multi-dimension force sensor 100 and institute
Electric current stimulating module is stated, main control module is used to obtain the signal of the output of multi-dimension force sensor, and is sent out to electric current stimulating module
Send control instruction；The electric current stimulating module setting provides haptic stimulus feedback in the operating side.So as to use
Multi-dimension force sensor 100 detects the force information contacted between working end and illing tissue in Minimally Invasive Surgery, and passes through main control module
It receives and calculates and send out control instruction, real-time force information is finally fed back to by patient's hand in operating side with electric current stimulating module
On, to instruct patient to apply accurate active force during surgery.In order to the most subtle power in comprehensive and accurate capture working end
Information can also measure three simultaneously preferably, using the most complete form of multi-dimension force sensor 100 in the present embodiment
The six-dimension force sensor of force component and three moment components.
As shown in Fig. 2 to Fig. 8, in conjunction with the architectural characteristic of operating robot working end, the present embodiment provides a kind of letters of structure
Single, moderate dimensions, while detachable mounted multi-dimension force sensor 100.The multi-dimension force sensor 100 includes elastomer 1 and detection
Module, the detection module include the multiple foil gauges being arranged on elastomer 1 and connect with the multiple foil gauge to
Detect the detection circuit of foil gauge resistance change.
With reference first to Fig. 3, elastomer 1 is including upper elastic portion 2, lower elastic portion 3 and is connected to elastic portion 2 and lower elasticity
The Rectangular Elastic piece 4 of two parallel arrangements between portion 3.In order to accurately capture the force information of operating robot working end and agree with
The architectural characteristic of operating robot working end in the present embodiment, upper elastic portion 2 and lower elastic portion 3 is all provided with and are set to circular groove shape, and
It is arranged to external symmetry after the opening of two circular grooves, is also that the outside bottom surface of two circular grooves is oppositely arranged in parallel.And the Rectangular Elastic
Piece 4 refers to its rectangular cross-section structure, and two Rectangular Elastic pieces 4 are arranged between elastic portion 2 and lower elastic portion 3, rectangle
The both ends of elastic piece 4 are connected with the circular groove bottom surface of upper elastic portion and lower elastic portion respectively.
Meanwhile in order to fundamentally solve the problems, such as the retinoic acid syndrome of multidimensional sensor 100, making the detection of working end force information
It is more precisely careful.It needs to select appropriate foil gauge patch location and group bridge mode from the mechanical characteristic of elastomer 1.
So in the present embodiment, multiple foil gauges are separately positioned on upper elastic portion 2, lower elastic portion 3 and two Rectangular Elastic pieces 4
On.
With reference to Fig. 4, the circular groove inside bottom surface of lower elastic portion 3 is shown, according to the emergent property of elastomer 1 and required
Dynamometry number is provided with six foil gauges of R1~R6, and a pair is separately positioned on Descartes's seat to six foil gauges two-by-two
Mark the X-axis for being, Y-axis and with X-axis Y-axis in the position of 45 ° of angles；It is respectively used to measure tangential force Fx, Fy and normal force
Fz.And with reference to Fig. 5, for the circular groove inside bottom surface of upper elastic portion 2, it is used to measure tangential torque Mx and My, so setting on it
Tetra- foil gauges of R7~R10 are set, four foil gauges are a pair of two-by-two to be separately positioned in the X-axis and Y-axis of cartesian coordinate system.
Refer again to Fig. 6 and Fig. 7, respectively two Rectangular Elastic pieces 4 simultaneously.In order to accurately measure normal direction torque Mz, in the present embodiment,
Two foil gauges are set on each Rectangular Elastic piece 4, R11 and R12 on a Rectangular Elastic piece 4 are respectively set and set
Set the R13 and R14 on another Rectangular Elastic piece 4.Two pairs of foil gauges are separately positioned on the flat of two Rectangular Elastic pieces 4
On the opposite medial surface of row, that is to say, that two pairs of foil gauges are separately positioned on two nearest sides of 4 mutual distance of Rectangular Elastic piece
On face.And two foil gauges in same Rectangular Elastic on piece are set, it is separately positioned on Rectangular Elastic piece medial surface center
Both sides up and down, while two foil gauges intersect in diagonally disposed and two foil gauges extending direction.
Referring next to Fig. 8, the voltage output end of each foil gauge is connected to the voltage input end of detection circuit, i.e. U0End,
Wheatstone bridge circuits are formed, to detect foil gauge resistance change to measure the deformation quantity of elastomer；The resistance value of foil gauge
Variation is exported with the signal of voltage, that is, △ Ux, △ Uy, △ Uz, △ Umx, △ Umy and △ Umz；Wherein, normal force is being measured
Sensitivity higher full active Wheatstone bridge circuit is used when square signal △ Umz, and measuring remaining each signal and being all made of partly has
Source wheatstone bridge circuits, to make circuit be simplified.
Referring again to Fig. 2, further, multi-dimension force sensor 100 provided in this embodiment be additionally provided with sheath body 12, under
Sheath body 13 and elastomer sleeve 11, the elastomer sleeve 11 are coated on 1 side surface of the elastomer, so as to be carried for elastomer 1
For protection, influence of the external environment to elastomer 1 is reduced.The upper sheath body 12 and lower sheath body 13 cover conjunction in the upper elasticity respectively
The circular groove open side in portion 2 and lower elastic portion 3.Can be even closer after conjunction in order to make it cover, respectively in upper elastic portion 2 and lower elasticity
External screw thread is arranged in the circular groove lateral surface in portion 3, while internal thread is arranged on upper sheath body 12 and lower sheath body 13, to be connected by screw thread
Connect all parts.Further, it is additionally provided on the face that the upper sheath body 12 and lower sheath body 13 are contacted with elastomer sleeve 11
Annular groove, to assemble gasket 14, to ensure the leakproofness of assembly by gasket 14.In addition, in order to make whole device
Topology layout more simple and compact, reduce equipment size, in the present embodiment, the circular groove shape of the lower sheath body 13 and lower elastic portion 3
At accommodating cavity, the detection circuit is arranged in the accommodating cavity；Meanwhile the circular groove center of upper elastic portion 2 and lower elastic portion 3 is also
It is provided with through-hole 5, the lead of each foil gauge is connect across through-hole 5 with the detection circuit being arranged in accommodating cavity.
Such as Fig. 9, in the present embodiment, the main control module include signal amplification circuit, A/D converter circuit, ARM boards with
And PC host computers.Signal amplification circuit connecting detection module and A/D converter circuit, that is to say, that signal amplification circuit one end and favour
Stone bridge circuit is connected, and the other end connects A/D converter circuit, so as at the voltage signal amplification that detects detection module
A/D converter circuit is transmitted to after reason.A/D converter circuit is connect with ARM boards, is turned with can the voltage signal of amplification be carried out modulus
ARM boards are transferred to after changing.ARM boards connect PC host computers by data line, and transmit a signal to PC host computers, to make
PC host computers receive the force information of working end, then send instructions to electric current stimulating module according to the force information of working end.
The electric current stimulating module includes driving circuit and electrod-array, and the driving circuit connects the electrod-array,
So that the touch feeling of the electric current stimulation applications person discharged by driving electrode array is to realize force feedback.Meanwhile ARM plates with drive
Dynamic circuit connection applies intensity one so as to the waveform and intensity of real-time control stimulated current to the musculature of operator
The alternating current that fixed, mean value is zero makes operator obtain the mildly touch feeling without shouting pain, reaches feedback operation end force information
Purpose.And traditional force feedback pattern is usually to arrange servo motor in operating side, structure is cumbersome, and construction is complicated.The present invention's
Electric touch feedback device abandons traditional force feedback method, when implementation, need to only be arranged on original operating handle of operating side
Electrod-array, you can.Certainly, it uses conventional methods and arranges servo motor in operating side, servo electricity is driven by driving circuit
Machine vibrations can also realize the goal of the invention of the present invention.
The above is only a preferred embodiment of the present invention, it should be pointed out that in the premise for the design for not departing from the present invention
Under, several deductions or replacement can also be made, these, which are deduced or substitute, is regarded as protection scope of the present invention.
Claims (9)
1. a kind of electric touch feedback device, which is characterized in that including multi-dimension force sensor and electric touch control system；The electricity
Tactile control system includes main control module and electric current stimulating module；The main control module connect the multi-dimension force sensor with
And the electric current stimulating module, main control module is to obtain the output signal of multi-dimension force sensor, and to electric current stimulating module
Send instruction；The electric current stimulating module provides haptic stimulus feedback to receive the instruction that main control module is sent out.
2. electric touch feedback device according to claim 1, which is characterized in that the multi-dimension force sensor includes elastomer
And detection module；The detection module includes the multiple foil gauges being arranged on elastomer and is connect with the multiple foil gauge
To detect the detection circuit of foil gauge resistance change.
3. electric touch feedback device according to claim 2, which is characterized in that the main control module includes being sequentially connected
Signal amplification circuit, A/D converter circuit, ARM boards and PC host computers；The signal amplification circuit and the detection module
It is connected；The electric current stimulating module includes the driving circuit and electrod-array being connected with each other, the driving circuit and the ARM plates
Card connection.
4. electric touch feedback device according to claim 2, which is characterized in that the elastomer include upper elastic portion, under
The Rectangular Elastic piece of elastic portion and two parallel arrangements being connected between elastic portion and lower elastic portion；The multiple strain
Piece is separately positioned on elastic portion, lower elastic portion and two Rectangular Elastic on pieces.
5. electric touch feedback device according to claim 4, which is characterized in that the upper elastic portion and the lower elastic portion
It is circular groove shape, and two circular groove outward openings are symmetrical arranged；The both ends of the Rectangular Elastic piece are connected to elastic portion
With the circular groove bottom surface of lower elastic portion.
6. electric touch feedback device according to claim 5, which is characterized in that the upper elastic portion and the lower elastic portion
Circular groove center be additionally provided with for the through-hole across the foil gauge lead.
7. electric touch feedback device according to claim 6, which is characterized in that the multi-dimension force sensor is additionally provided with
Sheath body, lower sheath body and elastomer sleeve, the elastomer sleeve are coated on the elastic body side surface, the upper sheath body and lower sheath body point
The circular groove open side in the upper elastic portion and lower elastic portion Gai not closed；Lower sheath body and the circular groove of lower elastic portion form accommodating cavity,
The detection circuit is arranged in the accommodating cavity.
8. according to any electric touch feedback device of claim 4~7, which is characterized in that the upper elastic portion is provided with
Four foil gauges, four foil gauges are a pair of two-by-two to be separately positioned in the X-axis and Y-axis of cartesian coordinate system；The lower bullet
Property portion's setting there are six foil gauge, six foil gauges two-by-two it is a pair of be separately positioned on X-axis, the Y-axis of cartesian coordinate system with
And with X-axis Y-axis in the position of 45 ° of angles；It is respectively arranged with two on the parallel opposite medial surface of described two Rectangular Elastic pieces
A foil gauge, described two foil gauges are separately positioned on the both sides up and down of Rectangular Elastic piece medial surface center, two strains
Piece intersects in diagonally disposed and two foil gauges extending direction.
9. a kind of installation is just like the operating robot of electric touch feedback device described in claim 1~8, which is characterized in that including
Working end and operating side, the multi-dimension force sensor are arranged on working end to capture the force information of working end, the electric current
Stimulating module is arranged on the operating side to provide haptic stimulus feedback.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173297.XA CN108420545A (en) | 2018-03-01 | 2018-03-01 | Electric touch feedback device and the operating robot for being equipped with the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810173297.XA CN108420545A (en) | 2018-03-01 | 2018-03-01 | Electric touch feedback device and the operating robot for being equipped with the device |
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| Publication Number | Publication Date |
|---|---|
| CN108420545A true CN108420545A (en) | 2018-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810173297.XA Pending CN108420545A (en) | 2018-03-01 | 2018-03-01 | Electric touch feedback device and the operating robot for being equipped with the device |
Country Status (1)
| Country | Link |
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| CN (1) | CN108420545A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269690A (en) * | 2018-09-18 | 2019-01-25 | 清华大学 | Stress sensor-based system and application stress sensor-based system robot |
| CN110169824A (en) * | 2019-04-19 | 2019-08-27 | 中国科学院合肥物质科学研究院 | A kind of moving cell of across signal Two-way Feedback control |
| CN112587240A (en) * | 2020-12-30 | 2021-04-02 | 上海微创医疗机器人（集团）股份有限公司 | Drive assembly, surgical instrument system and surgical robot |
| CN117433668A (en) * | 2023-12-08 | 2024-01-23 | 深圳市鑫精诚传感技术有限公司 | Composite force measuring sensor and force measuring method thereof |
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| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
| CN104915051A (en) * | 2014-03-14 | 2015-09-16 | 佳能株式会社 | Electronic apparatus and haptic feedback control method |
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| WO2006120666A1 (en) * | 2005-05-10 | 2006-11-16 | Navicath Ltd. | User interface for remote control catheterization |
| CN102379760A (en) * | 2011-08-25 | 2012-03-21 | 东南大学 | Myoelectric prosthetic hand force tactile feedback method and tactile feedback myoelectric prosthetic hand system |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269690A (en) * | 2018-09-18 | 2019-01-25 | 清华大学 | Stress sensor-based system and application stress sensor-based system robot |
| CN110169824A (en) * | 2019-04-19 | 2019-08-27 | 中国科学院合肥物质科学研究院 | A kind of moving cell of across signal Two-way Feedback control |
| CN112587240A (en) * | 2020-12-30 | 2021-04-02 | 上海微创医疗机器人（集团）股份有限公司 | Drive assembly, surgical instrument system and surgical robot |
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| CN117433668A (en) * | 2023-12-08 | 2024-01-23 | 深圳市鑫精诚传感技术有限公司 | Composite force measuring sensor and force measuring method thereof |
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Application publication date: 20180821 |